creating folds: origami inspired morphing · 2020. 7. 31. · creating folds: origami inspired...
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Creating Folds: Origami Inspired Morphing
Manu Mulakkal
Valeska Ting, Richard Trask, George Whittell, Ian Manners and Annela Seddon
2/10Self actuation - examples
Creating folds: Origami inspired morphing
A
(A)Composite hinge design with pre-stretched polystyrene(PSPS) for
localised resistive heating (B) folded robot
B
S. Felton et al. A method for building self-folding machines; DOI:10.1126/science.1252610
C
(C)Shrinky-dinks (pre-stretched polystyrene) patterned with black in for
localised IR absorption
Dickey et al. Self-folding of polymer sheets using local light absorption; DOI: 10.1039/c1sm06564e
3/10
(a)Schematics of polymer active composite (PAC) hinge (b)thermo-mechanical programming steps
Ge et al. Active origami by 4D printing; DOI: 10.1088/0964-1726/23/9/094007
e
f g
d
c
(c) Sequential hinge design of box (d-g) folding
Mao et al. Sequential Self-Folding Structures by 3D Printed Digital Shape Memory Polymers; DOI:
10.1038/srep13616a
b
Self actuation - examples
Creating folds: Origami inspired morphing
4/10Self actuation - examples
A- Ionoprinting with metal cathode on polyelectrolyte (sodium polyacrylate; pNaAc) hydrogel
B– Spiral: poly(N-isopropylacrylamide(PNIPAm)) hydrogel with patterned crosslinking
C-3D printed box: rigid phase + active(hydrophilic polymer)
Palleau et al, Reversible patterning and actuation of hydrogels by electrically assisted ionoprinting; DOI:
10.1038/ncomms3257
A
Wu et al. Three-dimensional shape transformations of hydrogel sheets induced by small-scale modulation of
internal stresses; DOI: 10.1038/ncomms2549
B
Skylar Tibbits, 4D Printing: Multi‐Material Shape Change; DOI: 10.1002/ad.1710
C
Creating folds: Origami inspired morphing
5/10Morphing with paper
free ends
Hydrogel Paper De-hydrated gel
As fabricated Dried at R.T Dried at elevated temp
5 mm 10 mm 15 mm
Creating folds: Origami inspired morphing
10 mm5 mm 15 mm
6/10Morphing with paper
• Principle of actuation
– Shrinking of hydrogel due to water loss result in strain mismatch
– Diffusion + capillary+ S.T
• Factors affecting fold/ curve angle
– the amount of gel forming polymer, its spread, stiffness of paper (i.e grammage) and open area that needs to be folded
1x - 155° 4x – 113 ° 7x -72 °
5mm- Radius 6.1mm
10mm - Radius 4.9 mm
15mm - Radius 4.0 mm
Creating folds: Origami inspired morphing
Amount of gel
Gel spread
7/10Drying at elevated temperatures
Creating folds: Origami inspired
morphing
45° : wide
30° : narrow
45°:narrow
45° : wide 30° : narrow
45°: narrow
Scale bar: 25 mm
Construction 1-paper cut (bottom)2-gel3-paper cut(top)
1
3
1
1231
Scale bar: 10 mm
Front view Side view
Water in the hydrogel structure can be classified into bound, semi bound and free water (bulk).
180 °C + 5 min 180 °C + 5 min
Creating folds: Origami inspired morphing
8/10Coupled system
30 mm
180 °C for 5 min
Flat Pop-up
30 mm
Independent Coupled
Creating folds: Origami inspired morphing
9/10
supported mass – 222g Mass of specimen- 0.31g
Coupled system
Creating folds: Origami inspired morphing
10/10Conclusions and Future works
Cost effectiveSimpleSmart
Low footprint
ExtrusionVariability
Potential Challenges Future
ALM4D printing
Creating folds: Origami inspired morphing
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